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Example with multiple simulated robots

Clone and build kr_multi_mav_manager in your workspace

Helper bash scripts are added to launch multiple robots. (Requires tmux installed)

roscd kr_multi_mav_manager/scripts
./demo_gazebo.sh 2
  • This will launch 2 robots in gazebo. Do not run more if your machine cannot support.
  • Switch to the Kill tab in the tmux window and press Enter to close everything
  • dragonfly$ID namespace is used for each robot. Each vehicle can be interfaced with the kr_mav_control topics/services in this namespace.
  • Use the rqt_multi_mav_gui GUI to control all the robots. Wait until you see ==== Multi MAV Manager is ready for action === in one of the tmux pane.
  • You can also use the MATLAB interface to control the robots. Might have to update the odom_topic in the interface.

If MAVs need to be loaded in pre-defined start locations, create a CSV file to input X,Y,Z,YAW on each new line per MAV. An example csv is provided.

roscd kr_multi_mav_manager/scripts
./demo_gazebo.sh start_locations.csv